Pedal adjusting apparatus and thereof method and gait training device with foot pedal adjusting apparatus

ABSTRACT

The present invention relates to a pedal adjusting structure, and a stepping training device with the pedal adjusting structure. The pedal adjusting structure includes a body for fixing the foot pedals adjusting structure on the stepping training device, a pedal, an adjusting structure connected between the body and the pedal. Via the adjusting structure, the relative angle and/or the relative height between the pedal and the body can be adjusted. Thus, the gait pattern induced in the stepping training device can mimic the normal gait pattern.

This application claims the priority benefit of Taiwan applicationSerial No. 101127883, filed Aug. 3, 2012, the full disclosure of whichis incorporated herein by reference.

BACKGROUND OF THE INVENTION

1. Field of the Invention

This invention relates to a gait training apparatus, more particularlyto a gait training device with an angle and/or height compensatory.

2. Description of the Related Art

The reason for the commonly seen stepping training device such asstepping machines, slider machines or elliptical machines to prevail aspopular gym fitness equipments is that they enable users to performstepping exercise. FIG. 1 is an illustration of an angle-adjustablepedal (that is) applicable to gym equipments. The stepping trainingmachine consists of an angle-adjustable pedal connected to an exercisebar or a base. In this illustration, one end of pedal 1, which isrevolvable, is connected to the base (or substrate) 11. The other end ofthis pedal 1 contains three holes 14 and an adjustable unit 13. Withrelative adaptation of the orientation plug 15 and adjustment unit 13,the angle of pedal 1 relative to base 11 is adjusted, albeit fixed andstationary during performance of exercise.

In most human locomotion, a specific pattern in the changes of theangles in ankle, knee and hip occurs in varied phases of the gait cycle.The fix similarity in this pattern across the vast majority of human istermed as “normal gait pattern”. To enable users of these machines whileperforming exercise or receiving rehabilitation to exhibit a normal gaitpattern is a critical purpose. However, traditional gait training devicesuch as stepping machines, slider machines or elliptical machines onlyallows stepping to occur at the cost of an abnormal ankle movement angleand gait pattern; therefore, it should not be considered a normal gaitpattern.

In addition, the body's center of gravity follows a sinusoidal,vertically upward and downward amplitude while in ambulation. However,the traditional gait training device is devoid of any compensatoryfunction on the vertical height change of COG during stepping exercisewhich gives rise to the problem of too much vertical displacement aswell as an abnormal gait pattern that requires modification.

Due to the existing problems in the traditional gait training device,this present invention discloses pedal adjusting structures andadjustment methodologies to overcome at least one of the abovementionedproblems.

SUMMARY OF THE INVENTION

According to one embodiment of the present invention, a pedal adjustingapparatus, comprises: a base, to couple to a gait training device; apedal; and an adjusting module, to couple to the base and the pedal, toadjust at least one of a related angle and a related height between thebase and the pedal when the gait training device is operation.

According to one embodiment of the present invention, A method of gaitadjusting for a gait training device comprising a pedal, the methodcomprises: obtaining an gait adjusting data, wherein the gait adjustingdata is corresponding to a gait pattern of the gait training device; andadjusting at least one of an angle and a height of the pedal accordingto the gait adjusting data when the gait training device is operation.

These and other objectives of the present invention will no doubt becomeobvious to those of ordinary skill in the art after reading thefollowing detailed description of the embodiment that is illustrated inthe various figures and drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an illustration of the angle adjustable pedal applicable ongym equipment.

FIG. 2 is a comparative illustration of the changes in ankle angle of anormal gait and that induced from the gait training machine in a gaitcycle.

FIG. 3A is an illustration under the first implementation strategy(ideal) of this present invention on ankle via control of pedal angle.

FIG. 3B is an illustration under the second implementation strategy(ideal) of this present invention on the control of angle.

FIG. 3C is a comparative illustration of the changes in ankle angleunder the second implementation strategy (solid line) and that of thenormal gait (dotted line).

FIG. 4A is a comparative illustration of the changes in verticaldisplacement of COG in a normal gait and that induced from a traditionalgait training machine during ½ of the gait cycle.

FIG. 4B is an illustration of the control in pedal height in a gaitcycle.

FIG. 5 is an illustration of one of the implementation examples of thepedal adjustment structure of this present invention.

FIG. 6 is an illustration of the changes in pedal angle and height indifferent stages (phases) of gait cycle under the implementation exampleof FIG. 5.

FIG. 7 is an illustration of a common sliding bar.

DETAILED DESCRIPTION OF THE INVENTION

In walking or running, gait cycle begins when the heel of the first footcomes in contact with the ground (heel strike), bears weight, the anklepropulses forward till the heel takes off and swing forward and ends thegait cycle. FIG. 2 illustrates a comparison of the ankle's angle changesin a normal gait and that induced from the traditional gait trainingdevice. The dotted line exhibits the pattern of angle change in ankleduring a normal walking or running gait cycle. As shown, according todifferent phases of a gait cycle, the ankle executes two dorsiflexionsand plantarflexions, respectively.

Albeit, during operation(period of exercising) of a traditional gaittraining device (eg. elliptical and slider machine), the pedal is fixedto the main body of the machine with no movement allowed. Therefore, itis not possible for a traditional gait training device to induce anear-normal angle of change in ankle as in a normal gait cycle. The gaitpattern induced from the traditional machine allows only onedorsiflexion and plantarflexion to occur in the whole cycle of gait asshown with the solid line in FIG. 2.

Note that it is not our intention to command a perfect gait pattern butto aim for correction of the abnormal gait pattern induced by thetraditional gait training device through control of the pedal during thegait cycle. Therefore, among the myriad implementation examples in ourgait training invention, at least one contains the controlling mechanismin the angle of ankle (ie. via the angle of the pedal).

Following is the illustration on the implementation strategies throughwhich the angle of the pedal is controlled to gain an optimized gaitpattern that does not exhibits in the traditional gait training device.

The First Implementation Strategy

The angle data of a normal gait and that induced from a traditional gaittraining machine is subtracted to yield a difference which is shown inFIG. 3. This is an illustration showing an ideal pedal angle controlthis invention strives to replicate in a normal gait pattern. There arestill many implementation strategies to correct the abnormal gaitpattern resulted from a traditional gait training machine which aredisclosed as follows.

The Second Implementation Strategy

From FIG. 3A, it is noted that a greater difference in ankle angleoccurred right after 56% of gait cycle.

Much less difference is noted between 10˜56% of gait cycle. This data issimplified as in FIG. 3B, which is a second illustration of the controlmechanism of this invention. No angle adjustment is done between segmentB to D, thus simplified the whole control adjustment mechanism of thegait training machine. FIG. 3C is an illustration of the comparisonbetween the angle change of ankle from the second implementation (solidline) and in normal gait pattern (dotted line). Note that according toFIG. 3B, the angle change of ankle induced from the secondimplementation exhibits two dorsiflexions and plantarflexions (refer tothe solid line in FIG. 3C) demonstrating its enablement in mitigatingthe problem mentioned in traditional gait training machine. From this,it is known that via adjustment of the difference of angle in a part ofthe gait cycle but not limited to this part may suffice the aim ofenhancing a near-normal gait pattern. In this second implementationstrategy, the whole gait cycle is simplified through at least two partsof adjustment module; one is the functional region (ie. D-E-F-A-B), theother is the nonfunctional region (ie. B-C-D). The whole inventiondesign is simply done by employing a simple mechanical principle.

The Third Implementation Strategy

The body's center of gravity (COG) displays a specific pattern ofvertical displacement while in ambulation. However, ready-madeelliptical machine and stepping machine lacks compensatory effects onthe vertical displacement of COG not merely the abnormal ankle angle.Therefore, the third implementation strategy not only aims forachievement of the abovementioned strategies but also the compensatoryeffect on vertical displacement of COG. Furthermore, the verticaldisplacement patterns of COG in walking and running diverse in muchdifferent ways. Thereby, the compensatory mechanism should differaccordingly. So in this implementation strategy, users are free todecide of one's own accord whether to initiate the function ofcompensatory effects on the vertical displacement of COG, in anambulatory mode (the first operated mode) or in a running mode (thesecond operated mode), respectively. In the other implementation method,the compensatory mechanism on vertical displacement of COG adjustsappropriately and automatically according to the different speed of thegait training device (ie. walking or running). That is, the controlmodule has different adjusted height amounts and selects one of theadjusted height amounts according to a speed (or the operated mode) ofthe gait training device to control height of the adjusting module. FIG.4A shows the relative difference of vertical displacement of COG during½ of the gait cycle in normal gait and that induced by the pedal of thetraditional gait training device. The dotted line shows the trend ofchange in normal gait while the solid line represents that induced in atraditional gait training device during ½ of the gait cycle. Due to thesimilar gait pattern in right and left lower extremities, only ½ of thegait cycle is illustrated and both the lower extremities actsasynchronously by ½ cycle of a gait cycle. By subtracting the data froma normal gait and that induced by the traditional gait training deviceyields the compensatory function of the pedal on vertical displacementof COG.

In addition, highly complex suspension systems are always required inrehabilitation settings on traditional gait training device which lacksthe mechanism to adjust for the level of COG to prevent falls.Therefore, the third implementation strategy will be a bettersubstitution for the costly suspension design.

There exists various modes of the pedal adjusting structure of thepresent invention which could be easily set up by referring to books ofmechanically related subjects. They can also be achieved utilizingcommon control kits, such as: stepping motor for the control on angle,sliding bar (shown in FIG. 7) for the control of vertical height of thepedal.

According to the above implementations, it is easy to conceive theadjustment method employed to modify gait pattern and this method isapplicable on gait training machines containing a pedal. The adjustmentmethod includes the following steps:

Step 1: obtain a predetermined gait curve data (e.g., a normal gaitdata) and one that is relative to the gait training machine (e.g., anun-adjusted gait data of the gait training machine). In this step, thedetector is used to detect the current angle, height, or phase (such as:heel strike, mid stance, . . . etc) of pedal during a gait cycle toobtain an un-adjusted gait data of the gait training machine.

Step 2: obtain an adjusted gait curve data based on a predetermined gaitcurve data and one that is relative to the gait training machine. Forexample, subtract the two different curve data to acquire an adjustedgait curve data. In an embodiment, the adjusted gait curve data includesat least one of angle data and height data. The adjusted gait curve datacan also be obtained by simplification procedure for certain.

Step 3: adjust the angle and/or height of the pedal according to theadjusted gait curve data.

According to the illustration above, it is not difficult to conceiveeach and every steps. Therefore, no unnecessary detail will bedelineated herewith.

FIG. 5 is another method of implementation of the pedal adjustmentstructure by the present invention. The pedal adjustment structure 500enables the adjustment of the angle and/or height of the pedal. FIG. 5pedal adjustment structure 500 is able to achieve at least one of theabovementioned implementation strategy. The pedal adjustment structure500 on FIG. 5 includes a body (or a base) 510, to fasten the structure500 to the gait training machine; a pedal 520 and an adjustment module630 designed in between the body 510 and the pedal 520 so as to allowrelative adjustment of the angle between the pedal 520 and body 510. Inthis way, the gait induced by the gait training machine essentiallydisplays a normal gait pattern or near-normal gait pattern in a steppingexercise. In one of the implementation example, the adjustment module530 comprises a first sliding bar (or named front bar) 531 and a secondsliding bar (or named hind bar) 532. The length of the sliding bars 531,532 is controlled by a control signal from a control module to achievethe pedal 520 angle and height adjustment relative to the body 510. Forexample, when the first sliding bar 531 lengthens (shortens) and thesecond sliding bar 532 shortens (lengthens), the relative angle of thepedal 520 and the body 510 is adjusted; and, when the first sliding bar531 shortens (lengthens) and the second sliding bar 532 lengthens(shortens), the relative height of the pedal 520 and the body 510 isadjusted. The pedal adjustment structure 500 naturally contains acontrol module (not illustrated) to control the adjustment module. Thecontrol module includes a controller (or a microprocessor (eg. 8051))and a related firmware. The microprocessor is able to execute theabovementioned gait adjustment method; it controls the length of slidingbars 531, 532 during gait cycle to achieve the effect. The controlmodule also includes a memory to store the abovementioned implementationstrategy so as to produce a control signal for controlling the change inangle and/or height according to this implementation strategy. Therealso includes a pedal orientation sensor within the control module todetect the relative position of the pedal. For example, the pedalorientation sensor may be an encoder located on the axis of rotation inthe elliptical machine or an tiltometer located on the perch in theelliptical machine. The memory stores various implementation strategies(ie, the abovementioned implementation strategies or the sameimplementation strategy appropriate for different users) for users tochoose from according to their appropriate needs. For one implementationexample, the body 510 includes a fastening module (not illustrated) usedfor fastening itself to the gait training machine. The fastening modulecan be configured using some common elements eg. screws and/or screwnut. People familiar with this technique is well acquainted and informedwith the configuration of this fastening module. Therefore, nounnecessary detail will be delineated herewith.

FIG. 6 displays the changing trend of angle and height in application ofthe second or third implementation strategies based on FIG. 5 indifferent stages of gait cycle. Therefore, this invention employs anadjustable supporting device (that is, the adjusting machine) under thepedal to adjust the angle or/and height of the pedal in different stagesof gait cycle. As in FIG. 6, adjustment of the first sliding bar 531 andthe second sliding bar 532 to achieve changes in the pedal's angle andheight in different stages of A, B, C, D, E and F in the gait cycleyields correct gait pattern of ankle in the corresponding stages of thegait cycle.

In another embodiment, the pedal adjustment structure 500 in thispresent invention could be a traditional gait training machine pack. Inother words, the body 510 of the pedal adjustment structure 500 in thispresent invention includes a fastening module (not illustrated) tofasten the pedal on traditional gait training machine or other relatedpart of the machine, or simply displacement of the pedal from thetraditional gait training machine. Certainly, various commonly seenimmobilization mechanisms are utilized for the fastening module tofunction thus.

While the invention has been described by way of example and in terms ofthe preferred embodiment (s), it is to be understood that the inventionis not limited thereto. On the contrary, it is intended to cover variousmodifications and similar arrangements and procedures, and the scope ofthe appended claims therefore should be accorded the broadestinterpretation so as to encompass all such modifications and similararrangements and procedures. Those skilled in the art will readilyobserve that numerous modification and alternation of the device may bemade while retaining the teaching of the invention. Accordingly, theabove disclosure should be construed as limited only by the metes andbounds of the appended claims.

What is claimed is:
 1. A pedal adjusting apparatus, comprising: a base,to couple to a gait training device; a pedal; and an adjusting module,to couple to the base and the pedal, to adjust at least one of a relatedangle and a related height between the base and the pedal when the gaittraining device is operation.
 2. The apparatus of claim 1, wherein theadjusting module is operation such that the gait training device is toinduce a near-normal angle of change in a gait cycle.
 3. The apparatusof claim 1, further comprising: a detector, to generate a detectingsignal according to a related position of the pedal; and a controlmodule, to control the an adjusting module according to the detectingsignal.
 4. The apparatus of claim 1, wherein a gait pattern of the gaittraining device comprises two dorsiflexions and two plantarflexions in agait cycle.
 5. The apparatus of claim 1, the base further comprising: afastening module, to fasten the base to the gait training device.
 6. theapparatus of claim 1, wherein the adjusting module further comprises: atleast one sliding bar, to adjust at least one of the related angle andthe related height between the base and the pedal, wherein a length ofthe at least one sliding bar is adjusted according to a control signal.7. The apparatus of claim 1, wherein the angle between the pedal and thebase is adjusted in a first part of the gait cycle and fixed in a secondpart of the gait cycle.
 8. The apparatus of claim 1, further comprising:a storage unit, to store a predetermined gait data; and a controlmodule, to control the adjusting module according to the predeterminedgait data.
 9. The apparatus of claim 8, wherein the control modulecontrols the adjusting module according to the predetermined gait datafrom the storage unit and an un-adjusted gait data of the gait trainingdevice.
 10. The apparatus of claim 9, wherein the un-adjusted gait dataof the gait training device is obtained from the storage unit.
 11. Theapparatus of claim 1, wherein a control module has different adjustedheight amounts and selects one of the adjusted height amounts accordingto a speed (or the operated mode) of the gait training device to controlheight of the adjusting module.
 12. A method of gait adjusting for agait training device comprising a pedal, the method comprising:obtaining an gait adjusting data, wherein the gait adjusting data iscorresponding to a gait pattern of the gait training device; andadjusting at least one of an angle and a height of the pedal accordingto the gait adjusting data when the gait training device is operation.13. The method of claim 12, wherein the angle of the pedal is adjustedsuch that the gait training device is to induce a near-normal angle ofchange in a gait cycle.
 14. The method of claim 12, wherein the gaitpattern of the gait training device comprises two dorsiflexions and twoplantar flexions in a gait cycle.
 15. The method of claim 12, whereinthe angle of the pedal is adjusted in a first part of the gait cycle andfixed in a second part of the gait cycle.
 16. The method of claim 12,wherein the step of obtaining the gait adjusting data further comprises:retrieving a predetermined gait data from a storage unit; and obtainingan un-adjusted gait data of the gait training device; and generating thegait adjusting data according to the a difference between thepredetermined gait data and the un-adjusted gait data.
 17. The method ofclaim 16, wherein the un-adjusted gait data of the gait training deviceis obtained from the storage unit.
 18. The method of claim 12, furthercomprising: generating a detecting signal corresponding to a relativeposition of the pedal; and wherein at least one of the angle and theheight of the pedal is adjusted according to the detecting signal. 19.The method of claim 12, wherein the gait training device has differentadjusted height amounts and the method further comprises: selecting oneof the adjusted height amounts according to a speed of the gait trainingdevice; and wherein the height of the pedal is adjusted according to theselected adjusted height amount.